I don’t have an AR Drone 2.0 baseline myself, but in general, I’d fire up the real-time plotter, and rotate the aircraft to get an idea of the full-scale readings, then let it sit for a bit. If the stationary noise looks ‘small’ relative to the full-scale reading, you’re probably OK. -Luke From: address@hidden [mailto:address@hidden On Behalf Of Ori Pessach
Sent: Friday, January 30, 2015 7:51 PM
To: Paparazzi UAV devel list
Subject: Re: [Paparazzi-devel] AR.Drone 2 magnetometer issues? Just how much variability should I expect between MAG readings? A dump of IMU_MAG_RAW messages from a recent log taken with the drone resting on a table looks like this: 349.004 201 IMU_MAG_RAW 73 79 23 349.102 201 IMU_MAG_RAW 73 83 19 349.151 201 IMU_MAG_RAW 75 73 21 349.200 201 IMU_MAG_RAW 71 85 17 349.249 201 IMU_MAG_RAW 72 84 24 349.298 201 IMU_MAG_RAW 74 84 22 349.346 201 IMU_MAG_RAW 69 83 23 349.444 201 IMU_MAG_RAW 71 79 17 349.492 201 IMU_MAG_RAW 72 80 20 349.542 201 IMU_MAG_RAW 71 81 21 349.639 201 IMU_MAG_RAW 71 83 21 349.688 201 IMU_MAG_RAW 71 81 21 349.737 201 IMU_MAG_RAW 75 79 25 349.834 201 IMU_MAG_RAW 75 75 23 349.882 201 IMU_MAG_RAW 71 75 25 349.933 201 IMU_MAG_RAW 77 81 27 349.985 201 IMU_MAG_RAW 70 82 22 350.029 201 IMU_MAG_RAW 75 81 25 350.128 201 IMU_MAG_RAW 68 76 24 350.225 201 IMU_MAG_RAW 74 76 22 350.274 201 IMU_MAG_RAW 72 82 22 350.322 201 IMU_MAG_RAW 71 83 21 350.373 201 IMU_MAG_RAW 72 80 20 350.468 201 IMU_MAG_RAW 74 76 24 350.517 201 IMU_MAG_RAW 73 79 15 350.568 201 IMU_MAG_RAW 74 78 18 350.615 201 IMU_MAG_RAW 71 81 19 350.664 201 IMU_MAG_RAW 75 81 21 350.713 201 IMU_MAG_RAW 70 82 16 350.762 201 IMU_MAG_RAW 73 85 27 350.810 201 IMU_MAG_RAW 68 76 22 350.862 201 IMU_MAG_RAW 75 79 25 350.908 201 IMU_MAG_RAW 70 80 24 350.956 201 IMU_MAG_RAW 70 82 24 I have no idea whether this should be considered normal... On Fri, Jan 30, 2015 at 3:08 PM, Ori Pessach <address@hidden> wrote: I'm using 5.4, I'm not sure about the filter, and I've seen mag values that appear very wrong (the drone is rotated on the map) even immediately after I boot the drone. I'll have to check the logs from the last couple of times I took the drone out to know about the raw values. I'm considering just trying to attach a 3rd party magnetometer to the drone using an arduino, or something like that, and patching paparazzi in order to get something working... On Fri, Jan 30, 2015 at 2:53 PM, Gautier Hattenberger <address@hidden> wrote: From my experience, ARDrone2 mag are really crappy, and they can fail at any time.
If you run a recent version (v5.4 or master), you *should* have a IMU_LOST indicator in the GCS strip when it occurs (in place of the GPS status).
We have tried to implement something to restart the navboard, but it is very difficult to test since the crashes are unpredictable. It has run for hours on my desk without issues, same for TUDelft guys, but maybe it is still not perfect.
What is your paparazzi version ? which filter are you using ? are the raw mag values still changing when it starts to go wrong ?
Gautier Le 30/01/2015 22:29, Ori Pessach a écrit : So, any ideas from anybody? I'm considering getting a new nav board, but they're not terribly cheap so I thought I'd try to figure out whether the one I have is broken, or whether they're all like that. On Sun, Jan 25, 2015 at 7:14 PM, Ori Pessach <address@hidden> wrote: Hi, I was wondering if someone who had some experience flying the AR.Drone 2 could tell me whether what I'm seeing is typical, or a sign of a possible hardware issue. The magnetometer readings seem to be very erratic. I've seen a range of behaviors: * Tracking the drone's direction perfectly. * Showing a direction that's rotated 180 degrees * Showing a direction that's rotated 90 degrees counterclockwise (???) * Being JUST a little bit off, and then appearing to be perfectly fine after I took the drone and walked around in circles while holding it. So, what's going on? I've been seeing some serious navigation issues, and I'm wondering if the magnetometer can get out of calibration midflight, which might explain the erratic behavior I've been seeing: Taking off perfectly, holding position fine, and then navigating to the first waypoint and staying there without issues. Things after that can be pretty erratic, however, including going way off course on the way to the next waypoint, wobbling wildly back and forth, and sometimes trying to fly into the ground at high speed at a 45 degree angle. Which fails, because of immutable physical properties the ground happens to possess. I've calibrated the magnetometer, changed the values for the local magnetic field, and the fact that SOME things work, at least at first, would indicate that the drone should be able to fly fine - at least as far as I understand it. _______________________________________________ Paparazzi-devel mailing list address@hidden https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
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